text:
Picture this: a tropical island home to rare animals, like the the
aye-aye, a rare and unusual lemur, the jeweled Mantella frogs, the panther chameleons, among many others.
Then envision its waters: teeming with coral reefs and home to humpback whales. Then think of pirates and shipwrecks and rain forests.
Sounds like an island straight from an adventure novel?
Welcome to Nosy Mangabe. True enough, Douglas Adams, a British sci-fi novelist, once visited the island searching for the aye-aye in one of his novels, Last Chance to See.
Located in Antongil Bay about 2 kilometers offshore from the town of Maroantsetra in eastern Madagascar, Nosy Mangabe is a tropical rain forest preserve to protect the aye-aye. It's a tourist spot for adventures, travelers, biologists, wildlife enthusiasts, eco-tourists, and researchers.
Take a glimpse of Nosy Mangabe in Picture of the day: beach on a tropical island paradise.


text:
07.27.2016 | 21 Tammuz, 5776
UN: Israel policies forcing Palestinians to leave Area C of the West Bank
A-G to rule on use of 'abandoned property law' to save Amona outpost
2 members of Muslim Wakf arrested for attacking Jewish tourist on Temple Mount
Elkin-Katz bond holding up cabinet reshuffle
Remembering Satyajit Ray
Idan Raichel sheds a few layers
Israel shares its expertise in combating human trafficking
Israel strikes a chord with a Milwaukee musician and Houston family
The Jerusalem Post's top 5 stories of July 27
'If Israel leaves West Bank, PA, Jordan will collapse'
New on the small screen
A touch of Truffaut
Amar'e Stoudemire to join Hapoel Jerusalem?
Beersheba set for next continental challenge
47 arrested in mass crackdown on Israeli soccer fan club 'La Familia'
Top Jewish American soccer players targeted by Israeli clubs
Attempt to stop beachside development plan heads to High Court
Ebay, Israel Post join forces to boost online selling
Not just fun and games: Seeking tech behind video games
Health Ministry launches plan to eradicate hepatitis C
Israeli researchers find way to detect cancer cells before becoming brain tumors
Arab-Israeli children much more likely to die in accidents
Health ministry to take lead in combating child hot car deaths
Delek makes bid for exploration license south of Cyprus
Economic committee chairman calls for guidelines to protect animals during live shipments
Nation's cleanest beaches named
Sisi, the peace broker
Letters to the Editor
Israel's mixed messages on basic education
Why is Israel chained to the 'diplomatic process'?
For first time during Syria war, Israel opens border for humanitarian aid
Bombings kill at least 31 in northeast Syria city
Is Gaddafi's son returning to politics?
Entire region concerned about 'day after' Iran deal expires
Iran destroys 100,000 satellite dishes in morality-driven crackdown
Iran left with no choice but to confront the US, official warns
Iranian Kurdish leader to 'Post': Iran regime is a common enemy
Jihadis call on 'lone wolf' terrorists to attack Israeli athletes at Rio Olympics
Report: ISIS operating sleeper cells in Lebanese refugee camps
One mile from ISIS feels safer than France or Turkey to Kurdish peshmerga
ISIS claims responsibility for Nice attack
Second generation Holocaust survivor in legal battle with Polish church
DNC staffers question Holocaust Remembrance Day statement in leaked emails
Jewish groups rally against anti-Israel bias at UN
Analysis: 'Mikve law' throws cold water on Israel-Diaspora relations
Healthcare hackathon organizers seek to be 'light unto others'
WATCH LIVE: Peres, Rivlin and Netanyahu launch Israeli Innovation Center
Anti Israelis protestors in Philadelphia call out "long live intifada"
In a first for women, Clinton to accept presidential nomination
Clinton surrogate and friend: Bernie voters will end up moving to Hillary
Protesters torch Israeli flag outside Democratic National Convention
A dog watches a horror movie, his reaction is priceless!
Could Fitbit be inaccurate? Worth checking these facts
Star Catcher: Astrology for the week of July 29, 2016
Grapevine: Changes at the TA Museum
PODCAST: After Turkey, Africa and Egypt, is Saudi Arabia Israel's next ally?
Podcast: From Tel Aviv, a story of hope for Orlando
Briefing: 'King Bibi' pulls it together, again
Podcast: The mystery of Tel Aviv's Jane Doe alleys
This is how cats catch their rides in Thailand...
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100-Year-Old Theater Converted Into Stunning Bookstore
Second Lebanon War veteran's road to redemption
Empowering women globally
Obscure treasures
The American spirit's impact
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Dark years on the Côte d'Azur
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Summertime chickpea dishes
Treats for Shabbat morning
A blend of wine, Judaism and Zionism
Avocado diplomacy
The last of Jerusalem's Mohicans
Peggy Cidor's round-up of city affairs.
Fun in the park
All lives matter
Diverse complexions
'The Simpsons,' for a change
Born, raised and educated in a vineyard
מַחֲנֵה קַיִץ
'שְבִיל הַחוֹף'
'חָרִיש', עִיר חֲדָשָה בְּיִשְׂרָאֵל
The Christian Edition- one month free subscription
Pope's trip to Poland overshadowed by killing of French priest
Israel's blessing to the world
Remembering the 'Exodus'
Tzvika Kaplan Scenic Lookout Inaugurated on Mount Carmel
Looking for IMI, the Blue Box's "Little Sister"- Can you help?
President of Paraguay Plants an Olive Tree in Jerusalem
Honoring Holocaust Rescuer Belgian Prince with a Tree in Israel
Perth and Merhav Am, Different but the Same
Canadian Young Professionals Visit Gaza Border Communities
Spanish Village Connects with its Ancient Jewish Roots
Expo Forest Inaugurated in the Negev
Czech prime minister plants tree in Jerusalem grove of nations
The Scholarship is from Canada, the Foresters from Israel
Planning a Sustainable Future through Water Sensitive Cities
Burnt Trees and Charred Earth in Jerusalem's Arazim Valley
Hugging a Tree? Beware of the Pine Processionary Caterpillar!
KKL-JNF holds its 6th Latin American Leadership Conference
Andrew Viterbi at a KKL-JNF Milan Gala Event
KKL-JNF and The Italian State Forestry Corps Sign a Memorandum
Peonies and Pineapples in the Negev Desert
An Interview with Israel Prize Winner Prof. Yossi Katz
Arava Open Day 2016
The Acacia Tree Stars in the Arava Ecosystem
We will win but how long will it take? Including Bibi's Building Bluff
Is a Jewish safe haven possible in the Diaspora; is America the "exception"?
Potentially Misleading Statistics on Global Terrorism
Still Looking for Israel at Harvard
Health & Science
05/16/2012 04:14
Toothrbush 370.
(photo credit:Thinkstock/Imagebank)
A 24-year-old woman who spent two days last week trying to find someone who
would believe she had accidentally swallowed her 20- centimeter-long toothbrush,
finally got doctors' attention at the Carmel Medical Center in Haifa, where
physicians took her complaint seriously and pulled out the
instrument.The young woman, Bat- El – who worked in special education
after completing her army service and now takes care of the elderly at an
institution – finished work a few days ago and went home, where she brushed her
teeth. Because of the angle at which she bent over to swallow water from the
faucet while holding the brush near her mouth, the piece of plastic and nylon
bristles suddenly slipped into her mouth and went down her esophagus into her
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The football team is alright.Funding could be a bit better
Excellent. A cut above the rest.
There is a varsity athletics presence however there is not an emphasis on their events. It is nice to go and support but there is definitely a lack of attendance.
Truthfully, I know very little about the sports at Rowan. I attended a decent amount of the soccer games because a friend is on the team and the turnouts were always good, but otherwise I have no idea about our sports.
The athletics at Rowan University are a big part of on-campus living. The varisty sports are not too big, but the intramural and club teams interest everyone. They offer a very wide variety of sports and games that suit everyone of all skill levels. Many students look forward to a particular activity.
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The Rowan Profs have found a lot of success on the athletic fields in recent years. Unfortunately, not many students seem to care or notice. All of Rowan's teams are NCAA Division III and play in the New Jersey Athletic Conference (NJAC) against teams like Kean University, Montclair State University, New Jersey City University, Ramapo College, and William Patterson University. Rowan's biggest rival in football is The College of New Jersey, and whenever the Profs play TCNJ, it's an anticipated game. The homecoming game also attracts a fair amount of students, parents, fans, and professors interested in cheering on the Profs.
Most varsity sports are represented at Rowan at the Division III level, but certain sports, including tennis and men's lacrosse, do not have teams at all here. On the brighter side, there are numerous club teams that students can join, including soccer, tennis, ultimate Frisbee, and many others. Club sports require a lot of time and effort. Most teams have games, matches, and tournaments on the weekends and have practices throughout the week. If all that commitment isn't for you, intramural sports are very popular and are usually played one or two times a week.
Non-registered users are limited to 5 school profile page views per month.
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Bitter Sweets (Savannah Reid Series #2)by G. A. McKevett, Kensington Publishing Corporation Staff
View All Available Formats & Editions
Savannah Reid has established herself as a P.I. in posh San Carmelita, California, when real estate broker Brian O'Donnell asks her to find his long-lost sister. But Savannah's no sooner located Lisa, when murder enters the picture. Now, she must call upon all her resources to sort out the baffling clues, corner a killer, and clear her own name.
Savannah Reid has established herself as a P.I. in posh San Carmelita, California, when real estate broker Brian O'Donnell asks her to find his long-lost sister. But Savannah's no sooner located Lisa, when murder enters the picture. Now, she must call upon all her resources to sort out the baffling clues, corner a killer, and clear her own name.
Editorial Reviews
Publishers Weekly - Publisher's WeeklyIntroduced in Just Desserts, Savannah Reid, a Georgia transplant and former cop in Southern California, is having second thoughts about forming the Moonlight Magnolia Detective Agency. Her first case is a man looking for his sister, from whom he was separated as a child. Savannah locates Lisa Mallock and her daughter, Christy, and learns they are hiding from Lisa's abusive ex-husband, Earl. Then Lisa and Christy are abducted, and Savannah, certain that her investigation led to the crime, feels responsible. After she finds Lisa's mutilated body in a remote fishing resort, the Moonlight Magnolia Agency, including Savannah's former police partner Dirk, mobilizes to find Christy before she too is harmed. Savannah's visiting Granny Reid is unable to stand idly by and adds her country bromides to the proceedings. Despite the fact that the police are on the verge of arresting her every step of the way, the dessert-loving Savannah and her motley team of investigators manage to save the day and pull off a light, satisfying tale. (May)
Library JournalBrian O'Donnell wants to locate the sister his dad gave up for adoption years ago. Transplanted Southern belle Savannah Reid, unjustly fired from her job with the San Carmelito police, must either find a case for her detective agency or else deny her sweet tooth. She uses her indomitable charm and connections to find Brian's sister, who has been hiding from an abusive husband. Unfortunately, the psychotic stalker follows Savannah to the sister. As in Just Desserts (LJ 4/1/95), Savannah is the main draw here, with her wicked humor, intrusive appetite, and quintessential Southern sensibilities. Fun reading.
Kirkus ReviewsEased out of her job with the San Carmelita Police Department (Just Desserts, 1995), queen-sized peach blossom Savannah Reid has set up the Moonlight Magnolia Detective Agency. She's jubilant when she lands her first client, realtor Brian O'Donnell, who traced his sister Lisa Mallock, separated from him since her childhood adoption, to San Carmelita before he lost her trail. But Savannah quickly learns that Lisa doesn't want to be found. The $50,000 legacy Brian's trying to share with her is no match for his sister's terror of her abusive ex, Earl Mallock. Hours after Savannah has found Lisa, she's dead, and her daughter Christy's missing. The brutal murder looks just like Earl's workuntil he turns up as the next victim.
Despite a tough time for poor Lisa, this is more sweet than substantial, with gauzy romance-novel clichés purveying a double portion of food, fashion, and full-figured fun. Only the mystery is malnourished.
Product Details
- 9781575666938
- Publisher:
- Kensington
- Publication date:
- 01/28/2000
- Series:
- Savannah Reid Series, #2
- Edition description:
- Pages:
- 320
- Product dimensions:
- 6.88(w) x 10.92(h) x 0.84(d)
Customer Reviews
Average Review:
Write a Review
and post it to your social network
Most Helpful Customer Reviews
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Bitter Sweets (Savannah Reid Series #2) based on 0 ratings. 5 reviews.
This was a quick read. The characters are very dynamic, and once you begin reading, you'll feel you too are trying to untwist the wires. You will keep guession until the end.
What a great book in a wonderful series! DaU Cudahy, Wisconsin
I love this series. If you like the Stephanie Plum series you will love thede books.


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2 bedroomed comfort at the Király street - Apartment Minestrone
숙박 가능인원7
침실 수2
면적70 m²
Floor No.3(with elevator)
- 세탁기 / 건조기
- 이벤트 / 파티에 좋음
- 엘레베이터
- 인터넷
- 가족 / 아이들과 친근함
- 수건
- 부엌
|Király St, 1061 Budapest, 헝가리
|Acceptance rate
|Response time
|A few hours
|Calendar updated
This is the cultural centre of Budapest! Galleries, museums, clubs, theatres and the Opera House are just a couple of steps away!
Sheets, bed linen, towels, hair dryer are provided.
Cheap airport transfer or parking possibility is available, reservation needed.
Baby bed and high chair upon request.
2. We kindly ask all our guest to fill in our registration book upon arrival.
3. Please return all the keys received as agreed previously at the handover.
4. Please always lock the doors to your apartment, i.e. the street door, the apartment door and the security gate if available.
5. In case any apartment key would be lost you should inform us immediately; the necessary lock and key changes will be charged to you.
6. The apartment can be used only by our checked-in guests.
7. Please leave the apartment in the same general condition as you found it on arrival. Any damage caused during your stay must be compensated by you.
8. Should you face any problem with the apartment while your stay, please inform us immediately.
9. We accept no responsibility for your valuables left in the apartment.
10. Please take care of the cleanliness and tidiness of the apartment. At the check out please wash any used dishes and remove any rubbish, leaving the apartment in the same condition as you occupied it.
11. Pets are not allowed in the apartment, unless formerly agreed with us.
12. Smoking in the apartment is strictly forbidden.
13. This point is particularly important and no concessions will be made: Please pay respect to other residents of the house. Please close the doors carefully and silently, stay away from any behaviour that can disturb any residents particularly after 9PM. We reserve the right to cancel the service immediately with keeping the whole fee of the rental if we receive any valid complaints from other residents of the house.
14. We do not accept reservations of people who rent the apartments for illegal activities or to invite escorts during the stay.
15. We do not accept reservations for stag or hen parties, or of football supporters coming to European Championship matches. Thank you for your understanding.
16. There is a free WIFI access in the apartment.
17. The city tax not included in the total price.
18. The fee of the late night check-in service (after 9pm) costs 20 euros.
|2 명 이상시 가격
|6560 ₩ 1박당/
|Check-in before
|환불 규정
Everything was perfect!
This apartment was fantastic, much better than we had expected, couldnt be better :)
Both of us loved it, we spent lot of time on the balcony, the wiew was beautiful!!
The wi-fi worked as we were told
Everything worked, the host were very kind, we Will definitly recommend this apartment and Will definitly stay there again!
It made our stay at budapest complete!
Couldnt be more central, everything was near!
Thank you so much!!
the apartment is very nice and clean. it is exactly as the photos show.
the location is perfect. there is a metro station in 100m but everything is
so near that you can also walk.
just around the corner you can find many restaurants and cafes, bakery, mini market. GREAT LOCATION!
Nice and clean appartement. Fine location and a Nice host. Recommanded!
Very nice, I recommend. Lovely spended time in Budapest.
We were very pleased with our stay at Cibere. Arrival and departure were handled efficiently and the apartment was more than adequate for our needs. We particularly enjoyed the balcony overlooking the river and the central location was excellent. Bianka was very accommodating in arranging the airport transfers. The only downside was the loft sleeping area ceiling height which was not quite high enough to fully accommodate my 6'1" height.
a very nice Apartment, lots of Space. funktionel with dishwasher and microwawe.
only one thing to mention, no possible way to select different heat ind different rooms. Couldt have been nice to have more heat ind livingroom than ind sleeping room. But all in all, the most fantastisk place to live in Budapest. close to everything Down town and metro. Very queit in night, peacefull and we had a lovely holyday.
It's a very central Apartment. It was very clean and I would come back! Thank you very much for everything. A very nice City and the perfect place to be.
Really very good cozy apartertment! Very pleasant owner) walk to parlament - nerly 10 minutes. Many good, not expensive cafe near.
We really enjoyed our stay in Budapest. The apartment was very clean and overal decent. If you contact the host, there's almost instantly a response. Things like late check out or leaving your bags before you fly home are optional. In our case free off charge. Don't forget to ask too prevent dissapointment. Location is very nearby the subway and you can walk too plenty off site seeing places.
- 확인된 숙소의 품질
- 모든 호스트는 전화로 입증되었습니다.


text:
I have a form with 15 fields(including input types,select box,text area).
I can write a function to validate this form by the ordinary way,but thats not smart coding.I need to use each in this case.
This is what I was thinking:
$("#id1, #id2, #id3... #id15").each(function(){
if ($(this).val == "") {
$(this).closest("#error").css("display", "block");
Should this validation be class based or id based,am I going the right way?Am i using each() in the right context?


text:
Windows 2000 is a family of Microsoft operating systems comprising four editions, Windows 2000 Professional, Server, Advanced Server and Datacenter Server. It was the successor to NT 4.0 and offered a very long list of new features and improvements. Windows 2000 went RTM on December 15, 1999 and ...
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Windows 2000 Fibre LUN Rescan Doesn't See New Increased Capacity
We frequently run into an issue that requires a system reboot when it seems that one shouldn't be necessary. Any advice would be appreciated. Here are the details: A Windows 2000 host had access ...
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Setting up a virtual ftp directory that points to another computer
I have II5 sitting on an old Windows 2000 Professional box. It has an FTP site there that allows me to access files. It works great, no problem at all. However, now I need to setup a virtual ...
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Windows 7 shared printer hangs from Windows 2000
I have a Windows 7 x86 system and a printer that is shared publicly in my workgroup. When I try to print to that printer from a Windows 2000 Pro sp4 box, the print job gets into the printers queue, ...
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Where to obtain the WinHttp 5.1 redistributable?
i'm trying to find the redistributable for Microsoft WinHttp 5.1. Some older Windows 2000 machines in the enterprise do not have it. Microsoft's website says: Redistribution WinHTTP 5.1 is ...
158 views
Upgrade / Migration - Windows 2000 Pro -> Windows XP
This is an odd one, but please bear with me. I need to upgrade a system from Windows 2000 SP-3 to Windows XP. It's not just an OS upgrade though - it's also a Hardware upgrade - New box, Sata RAID, ...
257 views
Win XP Pro install CD says it can't upgrade from Win 2K Pro
Everything I've read and heard tells me that I should be able to perform an upgrade from Windows 2000 Pro to Windows XP Pro instead of a clean install. One blogger went as far as to say that there ...


text:
For the best healthcare for your needs, choose a doctor who specializes in your medical condition.
Board certification indicates that a doctor is highly qualified in the medical field in which they practice.
Board certification should be one of your top considerations when choosing a doctor. Board certification is an official recognition given to doctors who have met specific requirements set by national medical specialty boards in the... More
Check to see that this provider treats your medical condition.
Check to see that this provider performs the procedure that you need.
Check to see if your provider has any malpractices, board actions, or sanctions.
Learn more about where this provider went to medical school, residency, and more.
View information about special awards and recognition for this provider.
Check to see what languages this provider and/or staff speak.
Likelihood of recommending Dr. Yepuri to family and friends is 4.2 out of 5
Check out the quality of care at the 1 hospitals where Dr. Yepuri has admitting privileges.
Providing a positive patient experience with all aspects of my practice is very important to me and my entire team. We use the patient feedback on sites like Healthgrades to gauge both areas that we can improve upon and as acknowledgement that the care and service provided is appreciated as well. I encourage all current and prospective patients to view not only the survey responses regarding my practice on Healthgrades, but other online review websites as well.
View other doctors with similar experience to find the right doctor for you.


text:
A New Jersey federal district court judge on Friday will hear oral arguments in a challenge to an overbroad state law that, if upheld, would threaten to undermine bedrock legal protections for online speech.
Earlier today, 47 state attorneys general asked Congress to severely undermine the most important law protecting free speech on the Internet. In a letter to Congressional leaders, the AGs asked Congress to amend Section 230 of the Communications Decency Act -- which protects online service providers from liability for the vast majority of what their users do -- to carve all state criminal laws from the statute's protection.
EFF is leading the fight against the NSA's illegal mass surveillance program. Learn more about what the program is, how it works, and what you can do.
¿En el #LACIGF2016? El martes compartiremos el informe: Vigilancia y privacidad en 13 países de America Latina
25 Members of Congress have launched a new bipartisan caucus to defend Fourth Amendment rights: https://www.eff.org/deeplinks...
EFF & @APC_news are in Costa Rica for the #LACIGF2016. Join us for our join human rights event on July 26 at 9:00AM


text: Mickael Remond () wrote: > We are using a very simple in-house documentation tool that produces > Latex documentation of the code. > > Maybe we should release this tool if you that it could serve as a basis > for further improvement. Ok. Here it is: idx-edoc-1.0 http://www.idealx.org/prj/#idx-edoc idx-edoc is a simple automatic documentation generator for Erlang source code. When we will have more time, we will start working on the HTML generation part. -- Mickaël Rémond


text:
BackHome » Luxury Self Catering UK Search » UK Boutique Self Catering » England Boutique Self Catering » South West England Boutique Self Catering » Cornwall Boutique Self Catering » Charlestown Boutique Self Catering
Boutique Self Catering Mevagissey
Included below are 4 star, 5 star and luxury Boutique Self Catering, such as Antonia's Pearls, in Mevagissey. The ultimate selection of boutique self catering accommodation. Stylish with a contemporary twist, boasting luxury facilities and decor.
Antonia's Pearls
Charlestown Harbour, Charlestown 4.5 miles away
A few ways to describe Antonia's Pearls - exquisite, seaside, period, attention to detail, ideal for couples, couples with babies, families and extended family groups. It is views of the sea, deep comfy sofas, luxury duvets as well as antiques, art... more
Travel Ideas containing Antonia's Pearls
The Sea Swallow
1 Browns Hill, Fowey 8.1 miles away
The Sea Swallow is a beautiful old Cornish fisherman's cottage, immaculately presented and wonderfully equipped with everything you'll need. Luxurious contemporary style mixed with lovely antiques and flooded with natural seaside light, everything... more
58 High Street, Falmouth 14.7 miles away
Perfect for couples all year round, this beautifully designed, immaculately maintained, self-catering studio apartment provides magnificent views from throughout the flat across the Fal Estuary with its network of creeks and rivers and colourful... more
Lantallack Getaways Cornwall
Lantallack, Pencavo Hill, Saltash 23.6 miles away
Lantallack consists of two luxury cottages that have been tastefully furnished and converted into beautiful self-catering properties, one of which is ideal for holidaying couples and the other sleeps families of six. The surrounding countryside has... more
Fernhill Lodge
St Ives Road, Carbis Bay, St Ives 30.4 miles away
Fernhill Lodge is a St Ives self-catering detached house that allows visitors to this famously scenic location their own private stay, in a spacious and elegantly designed living environment. Seven adults and one child can stay here, where they can... more
Old Tavistock Railway Station Cottage
Quant Park, Tavistock 34.5 miles away
Make your next stop the Old Tavistock Railway Station Cottages, a unique trio of five-star self-catering getaways in the picturesque World Heritage town of Tavistock in Devon. Retaining its character and period detail, the station was named Best... more
Sunridge Treehouse
Worston, Yealmpton, Yealmpton 36.6 miles away
Sunridge Treehouse is a luxury, cedar-cladded, quary stone house ensconced in the midst of a gorgeous private woodland. High-end luxury interior includes state-of-the-art German Kitchen, vintage log burner, underfloor heating and 3D Home Cinema Games... more
Sancreed, Penzance 38.3 miles away
Dreamcatcher is a tastefully renovated chapel, dating back to 1869. Owners Jane and Mark purchased the property in 2015, and have created a luxurious holiday home for you to enjoy, with your comfort and enjoyment at the heart of the refurbishment. ... more
Latest Special Offers & Deals for Dreamcatcher
- Planning a Winter Wedding?
- To view the full details of all (1) Special Offers & Deals for Dreamcatcher, click here
Hesketh Crescent Apartment
4a Hesketh Crescent, Torquay 58.0 miles away
The Hesketh Crescent Apartment is located within one of the Country's finest and best preserved Regency Crescents. Perched in an elevated position above Meadfoot Beach, it is possible to see right across Tor Bay to Paignton and Brixham from the... more
Combrew Farm Cottages
Combrew Farm, Bickington, Barnstaple 62.9 miles away
Combrew Farm Cottages offer luxury self-catering accommodation for people looking to holiday in North Devon, located within 140 acres of the beautiful scenic countryside. The cottages have between two and seven bedrooms, all with pleasant and... more
Latest Special Offers & Deals for Combrew Farm Cottages
- The Roundhouse, 5 bedrooms, 23rd - 30th September, £795
- To view the full details of all (3) Special Offers & Deals for Combrew Farm Cottages, click here
The Old Stables Self-Catering Rooms
Northfield Road, Minehead 87.1 miles away
The Old Stables is a 5 star B&B which has now been turned into three high-quality self-catering rooms with light Scandinavian-style interiors, and affordable prices. Only one minute walk from the sea front and trails leading to the Exmoor National... more
Quantock Cottages
Kilve, Bridgwater 92.8 miles away
With the perfectionist touches of a five-star London hotel yet the rural setting of an ancient farmhouse, Quantock Cottages in west Somerset offers three luxury bolt-holes perfect for reviving weary bodies and tired minds. From the smallest details... more
Bluestone National Park Family Resort
Bluestone National Park Resort, Canaston Woods, Narberth 104.8 miles away
Bluestone National Park Resort, set in 500 acres of spectacular countryside, is the place to be for families who want to disconnect from the hustle and bustle of the daily grind and reconnect with nature – and more importantly, each other. A... more
Upton Grange Country Estate
Upton Grange, Upton Farm,, Nr Ringstead Bay,, Weymouth 110.2 miles away
Upton Grange is a unique holiday cottage venue within a walk of Ringstead beach on the World Heritage Jurassic Coast in Dorset. Six superbly restored holiday cottages ring the courtyard of an historic Dorset Tithe Barn set amongst manicured estate... more
The Post House
Bathway, Chewton Mendip, Bath 119.3 miles away
A luxury self catering house, beautifully restored and situated in a fantastic position for exploring the area, with Bath, Bristol, Wells, Cheddar Gorge, Longleat and Stourhead - to mention just a few, all within half an hour. The house is totally... more
Updown Cottage
12 Gold Hill, Shaftesbury 125.3 miles away
Updown Cottage is a 5* Gold Award self catering cottage dating from the C16th and set on the famous Gold Hill, location of the Hovis 'Boy on a Bicycle' advert. The spectacular views from both house and garden are 'an endless joy'. Every luxury is... more
Geometric Apartments
Geometric House, Braggs Lane, Old Market, Bristol 127.6 miles away
Geometric Apartments offer luxury self-catering alternatives for anyone looking to stay in Bristol, offering contemporary interior designs, Italian furniture, en suite bathrooms and modern entertainments such as Sky TV. One and two-bedroomed... more
Crockerton House
Crockerton Green, Warminster 131.0 miles away
2011 saw the beginning of a new era for the old stable at Crockerton House, as a luxury self catering holiday cottage for two. Beautifully converted and secluded in a lovely rural location with wonderful views of the Wylye Valley, The Old Stable is a... more
The Town House in Bath
32 Belvedere, Lansdown Road, Bath 132.2 miles away
This recently renovated, historic Georgian Townhouse sits in a central location in the stunning World Heritage City of Bath. Within walking distance to well known landmarks and an excellent base to explore the wider countryside, The Town House is the... more
Dairy Cottage Annexe
Mockbeggar Lane, Ibsley, Ringwood 139.4 miles away
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text:
Alexander Tsymbalyuk
Born in 1976, the Ukrainian bass' career is soaring, having given very successful company debuts at the Metropolitan Opera New York, Teatro alla Scala Milan, Royal Danish Opera Copenhagen, Bayerische Staatsoper Munich, Deutsche Staatsoper Berlin, Palau de les Arts Raina Sofia in Valencia, Royal Opera House Covent Garden, Liceu Barcelona, Bolshoi Theatre Moscow and Maggio Musicale Fiorentino.
In 2015/16 he will reprise his much celebrated performance of Calixto Bieito's Boris Godunov at Bayerische Staatsoper where his roles this season will also include, Sparafucile in Rigoletto and Bartolo in Le nozze di Figaro. He will give his role house debut at Paris Opera as Commendatore in Don Giovanni and returns later that season to sing King René in a new production of Iolanta. He will also return to the Met as Timur in Turandot.
Alexander has very successfully worked with conductors including Zubin Mehta, Lorin Maazel, Riccardo Muti, Daniel Barenboim, Sir Colin Davis, Antonio Pappano, Marco Armiliato, Nicola Luisotti, Kent Nagano, Gustavo Dudamel and Simone Young.
In concert he appeared at the Maggio Musicale Fiorentino to sing Mozart's as well as Verdi's Requiem and Don Carlo and he sang his Gurrelieder debut at Konzertverein Vienna, all under the baton of Zubin Mehta, Boito Mephistofeles (Prologue) with the Accademia Santa Cecilia conducted by Pappano, Rigoletto in Concert at the Hollywood Bowl with Gustavo Dudamel Otello in concert with Sir Colin Davis and the London Symphony Orchestra at Barbican Center London and at Deutsche Aids Gala in Düsseldorf. He gave a solo recital at St Johns Smith Square London and took part in the 20th anniversary celebration concert of the charity event "Festliche Gala der Deutschen AIDS Stiftung" at Deutsche Oper Berlin.


text:
|Publication number
|Publication type
|Application number
|Publication date
|Nov 21, 1995
|Filing date
|Jan 19, 1994
|Priority date
|Jan 19, 1993
|Fee status
|Also published as
|Publication number
|Serge Faure, Alain Gaillet, Regis Lefebvre, Claude Reboulet
|Original Assignee
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (7), Non-Patent Citations (2), Referenced by (10), Classifications (17), Legal Events (6)
|External Links: USPTO, USPTO Assignment, Espacenet
The present invention relates to a process for hybrid position/force control for a robot manipulator of the type which comprises a macro-manipulator connected to a micro-manipulator with a load-grasping device.
This invention applies most particularly, but not: exclusively, to the control of a robot manipulator of large size and high capacity for outdoor use, especially on construction sites, such as those described in the French Patent Application No. 89 14613, published as Patent No. 2 653 761. Such a robot manipulator comprises:
a motorized carrier, constituting the "macro-manipulator," with a slender structure (of large longitudinal dimension and relatively small transverse dimension), elastically deformable, constituted essentially by a mast swivelling around a substantially vertical axis and by an arm articulated at the top of the mast around a substantially horizontal axis and fabricated of several parts articulated to each other around axes parallel to the preceding, this arm opening out and folding in within the vertical plane passing through the axis of rotation of the mast;
a motorized, telescopic and swivelling compensating arm, constituting the "micro-manipulator," with a structure of low inertia relative to the carrier, which has at least one degree of redundant freedom and is equipped with a grasping device mount for detecting forces in active compliance, which compensating arm may be embodied according to the principle of the Stewart platform (or any other type of parallel manipulator);
a motorized linkage of the compensating arm with the end of the arm of the carrier;
apparatus for operation and control of the motorization of the carrier, of the compensating arm, and of the linkage of the compensating arm with the carrier;
apparatus for power supply and of control/operation of a grasping device supported by the grasping device mount;
It will also be noted that the carrier and the manipulating arm of such a robot manipulator are comprised of a certain number of actuating gears, which in practice are geared swivelling motors and various jackscrews, with automatic controls, as well as position sensors, linked with these actuating gears. The carrier, otherwise called the macro-manipulator, is capable of executing large displacements, using automatic position controls. The compensating arm, that is to say the micro-manipulator, executes small displacements and has automatic position and force controls; thus it comes into play in particular during the phases of operation which involve contact with the environment. Therefore, in practice, in a cycle of material handling performed by the robot manipulator, the compensating arm comes into play, in particular, at the point of seizing a load and at the point of letting go of a load. At the time of these sequences, the control of forces is, in fact, essential.
Considering, in particular, the sequence of grasping a load, for example one that is initially sitting on the ground, it is appropriate to transfer the entire weight of the load from the ground to the robot, placing the robot under stress without displacing the grasping device, which implies:
acting on the carrier in order to progressively compensate for its deformation, that is to say the combined effect of its displacements in translation and in rotation in space, depending on its configuration and its load-bearing state;
acting on the compensating arm in order to maintain the grasping device in position until the load is let go.
The problem presents itself in similar terms in the sequence of setting down the load when the robot is relieved (modification of the state of internal constraints) and when it is appropriate to transfer the entire weight of the load from the robot to the plane of deposit, without displacing this load.
The control of forces also comes into play with the activation of certain of the robot's modes of functioning, and more generally, the hybrid position/force control must allow control of the position of the grasping device of the robot according to certain degrees of freedom, while controlling the forces that the grasping device exerts on the environment according to the complementary degrees of freedom. As a reminder, it is recalled here that the total number of degrees of freedom is equal to 6, and the hybrid position/force control consists in controlling N degrees of freedom of force, and the (6-N) other degrees of freedom of position. In this context, "position" signifies "position of a point" as well as "orientation, just as "force" signifies "stress" as well as "torque." It must also be considered that, in a hybrid control, the robot interprets and executes macro-commands (or primitives), which are pre-defined functions, relating to the tasks to be carried out. For example, in a sequence of letting go of a load, the macro-command can involve the automatic control of force according to three degrees of freedom, and the automatic control of position according to the three complementary degrees of freedom. The hybrid control also makes use of various functional guide marks, in particular, a guide mark attached to the base of the robot, a guide mark attached to the base of the compensating arm (or to the end of the carrier), a guide mark attached to the moving plate of the compensator, a "task" guide mark fixed in relation to the environment, and a guide mark linked to the load to be manipulated. Taking into account the structure of the carrier and of the manipulating arm defines the "inverse geometric model" of the carrier, as well as the "inverse geometric model" of the compensating arm, that is to say the relationships which define, for each position of the carrier or of the compensating arm expressed in Cartesian coordinates, the corresponding set-point values to send to the articulations of the robot, which will simply be referred to as the "articular set-point values."
The considerations to which the inventors have devoted their attention have led them to envision four different strategies for the grasping and letting go of loads along a vertical axis, in which, respectively:
the carrier alone plays an active role;
the compensating arm alone plays an active role;
the carrier and the compensating arm are active sequentially;
the carrier and the compensating arm are active simultaneously.
The last strategy has proven to be the most advantageous, particularly in making it possible to limit the displacements of the compensating arm in relation to its median position, with a displacement of the carrier coming into play if the instantaneous position of the compensator deviates excessively from its median position,. causing a limitation of the dimensioning of the compensating arm. Another advantage is the ability to lower a load behind an obstacle and to seek contact "blindly," that is to say without having a priori knowledge of the exact level of the ground or of the plane of deposit.
The process for control according to the invention thus lies within the scope of this last strategy, and it aims principally to determine the distribution of forms of mobility between the carrier and the compensating arm or, in generalizing the problem and its solution, between the macro-manipulator and the micro-manipulator.
To this end, in the process for hybrid position/force control for a robot manipulator according to the invention:
N set-point values of force of contact of the grasping device or of the load with the environment and (6-N) set-point values of the position of the grasping device, which correspond respectively to the six degrees of freedom of the space, are input;
all these set-point values are compared to real values furnished by the respective sensors of force and of position, thus producing values of deviation;
the values of deviation are translated into increments of displacement intended for the load-grasping device;
the increments of displacement are added to the values representing the actual position, in order to constitute new set-point values of position of the load-grasping device;
the new set-point values of the position of the load-grasping device, while taking into account the real position of the macro-manipulator and of its deformation, are assigned to the micro-manipulator;
these new set-point values of position are translated, by a transformer of coordinates, into articular set-point values intended for the automatic controls of the actuating gears of the micro-manipulator,
these virtual set-point values of position, taking into account the deformation and the initial position of the macro-manipulator, are directed to the macro-manipulator;
these virtual set-point values are distributed, on one hand, as set-point values of position effectively directed to the macro-manipulator, and on the other hand, as set-point values not realizable by the macro-manipulator which are directed to the micro-manipulator;
the set-point values of position effectively addressed to the macro-manipulator are translated, by a transformer of coordinates, into articular set-point values intended for the automatic controls of the actuating gears of the macro-manipulator.
Thus, this process for hybrid control takes into account the fact that not all the degrees of freedom are acceptable for the macro-manipulator, which is the case of the carrier in the particular application being considered here in order to demonstrate the problem. It will also be noted that with the process according to the invention, it is not until after the desired position of the load-grasping device has been restored that the distribution of the set-point values between the macro-manipulator and the micro-manipulator is realized. It is here that the corrective displacements for cancelling out the deviations of automatic control from the hybrid set-point values are executed in the micro-manipulator, while the position of the macro-manipulator is independently corrected from its deformations. It must be noted that the deformations can be input from a table of previously stored values, or by means of calculation (mathematical model).
According to one implementation of the process according to the invention, the set-point values directed to the macro-manipulator are established in such a way that the macro-manipulator occupies a constant position in space, in the course of a sequence of grasping or letting go of a load.
In a variant of this process, the set-point values directed to the macro-manipulator are established in such a way that the macro-manipulator occupies an adjustable position, in the course of one sequence of grasping or letting go of a load, so as to reduce the deviation between the real position and the median position of the micro-manipulator.
The invention also includes the particular industrial application of the above described process for hybrid position/force control to a robot manipulator of large size and high capacity for outdoor use, with a motorized carrier constituted by a swivelling mast and by an unfoldable arm in several elements articulated to one another, and with, at the end of the unfoldable arm, a motorized compensator equipped with a grasping device mount for detecting forces in active compliance, in which the carrier constitutes the macro-manipulator and the compensator constitutes the micro-manipulator, the process thus ensuring the distribution of forms of mobility between the carrier and the compensator, while controlling the forces of contact in the course of sequences of grasping and letting go of a load.
In any case, the invention will be better understood with the aid of the description which follows, in reference to the appended schematic drawing which illustrates, by way of non-limiting example, several implementations of this process, in relation to a particular application:
FIG. 1 is a general layout, in perspective, of a robot manipulator which can be controlled by the process that is the object the invention;
FIG. 2 is a view-which presents the robot manipulator of FIG. 1, with the associated guide marks,in diagrammatic form;
FIG. 3 is a basic diagram of the hybrid position/force control according to the invention;
FIG. 4 is a more detailed basic diagram illustrating the distribution of forms of mobility in this process.
FIG. 1 shows the structure of a robot manipulator of large size and high capacity for outdoor use, such as has already been described in the French Patent Application No. 89 14613, published as Patent No. 2 653 761. Generally, this robot manipulator is comprised of a motorized carrier 1 of large size, with a slender structure that is elastically deformable, and a motorized compensator 2 with a structure of low inertia, which supports a load-grasping device 3 suitable for seizing a load 4.
The carrier 1, also called the macro-manipulator, consists of a fixed or movable underframe 5, which assures connection with the ground on the site where the robot is installed and utilized. The fixed or movable underframe 5 supports, by means of a motorized swivelling device, a rotating underframe 6, on which a mast 7 is mounted, and is thus made rotatable around a vertical axis 8. A balancing rotating ballast 9 is also mounted on the rotating underframe 6, behind the base of the mast 7.
Mounted at the top of the mast 7, around a horizontal axis 10, is an arm 11 that opens out and folds in, which is fabricated of several successive elements 12, 13, 14, 15 articulated to one another around horizontal axes 16, 17 and 18, parallel to the axis 10.
The motorization of the carrier 1 is provided by jackscrews 19, 20, 21, 22 which, respectively, provide for the swivelling of the first element 12 of the arm 11 in relation to the mast 7, the swivelling of the second element 13 in relation to the first element 12, the swivelling of the third element 14 in relation to the second element 13, and the swivelling of the fourth element 15 relative to the third element 14, the fourth and last element 15 remaining substantially vertical in the course of operation.
The arm 11 of the carrier 1 is extended at its front end, thus below element 15, by the compensator 2, also called the micro-manipulator. The compensator 2 is embodied here according to the principle of the Stewart platform. Thus it comprises an upper disk 23 which is substantially horizontal, connected by six jackscrews 24 to a lower disk 25. A motorized linkage 26 which allows for the rotation of the compensator 2 is provided between the last element 15 of the arm 11 of the carrier 1, and the upper disk 23 of the compensator 2. The load grasping device 3 is mounted under the lower disk 25 of the compensator 2.
Generally, the jackscrews 19, 20, 21, 22, 24, and the geared swivelling motors constitute the "actuating gears" of the robot manipulator. The carrier 1 with its various actuating gears, which include the geared swivelling motor 27 of the mast 7, allows high-amplitude displacements of the load 4 or of the load grasping device 3 when empty. The compensator 2 with its own actuating gears (jackscrews 24) allows for final positioning of the load 4 or the load grasping device 3, with faster movements of low amplitude, particularly at the time of grasping the load 4 and of letting it go. The sensors of force 28 supported by the compensator 2, like for example the sensor described in the French Patent Application No. 88 05919, published as Patent No. 2 631 118, also come into play at the time of these sequences.
More specifically, the grasping or letting go of a load involves the progressive transfer of the weight of the load 4 from the ground to the robot manipulator or inversely, the actuating gears provide progressive correction of the deformation of the structure of the robot manipulator in relation to its load, while the sensors of force 28 allow the horizontal forces and the torques of contact to be controlled at a value of zero. The hybrid position/force control allows control of the carrier 1/compensator 2 assembly, while maintaining the grasping device 3 in position and compensating for the deformation of the carrier 1.
In the diagram in FIG. 2, the structure of the robot manipulator appears in simplified form (the elements correspond to those in FIG. 1 that are designated by the same reference numerals). The elastic linkage, indicated with E between the end of the arm 11 and the compensator 2, symbolizes the elasticity and the corresponding deformation. This diagram also indicates the principal orthonormated guide marks necessary for the implementation of the hybrid control according to the invention:
guide mark Ro attached to the base of the carrier 1;
guide mark RRF attached to the upper disk 23 of the compensator 2 (designated RRF in the absence of deformation, assuming the carrier 1 to be rigid);
guide mark RRM attached to the lower disk 25 of the compensator 2;
mobile guide mark RTM linked to the load 4;
fixed "task" guide mark RTF linked to the ground or to the site of grasping or letting go of the load 4.
The basic concept of the control consists of producing increments of displacement Δx, whose components are expressed as Δx, Δy, Δz, Δθy, Δθy, Δθz which, when added to the regular position, constitute the new reference point of the position to be attained. FIG. 3 illustrates, in the form of a simplified diagram, how the hybrid controls of force Fd and of position x'd are combined in order to provide an increment of displacement Δx of the load grasping device 3, without concern for the forms of mobility permitted by the carrier 1 and the compensator 2. It is not until after the desired position xd of the load grasping device 3 has been restored that the distribution of set-point values between the carrier 1 and the compensator 2 is achieved, in a unit for the distribution of forms of mobility 29 which is detailed in FIG. 4.
The N set-point values of force Fd (stress or torque) corresponding to as-many degrees of freedom are input and compared at 30 to the real values of force Fm provided by the sensors of force 28 of the compensator 2. The N values of deviation of force, thus obtained, are converted into values of deviation of position (translation or orientation) at 31, where they are multiplied by a matrix of gain selected as the approximate reciprocal value of the rigidity of the carrier 1.
At the same time, the (6-N) set-point values of position xd, corresponding to as many complementary degrees of freedom, are input and compared at 32 to the real values of position xm, provided by the exteroceptive (external) sensors; (6-N) values of deviation of position are also produced.
This also produces within the assembly the six increments of displacement Δx, Δy, Δz, Δθx, Δθy, Δθz, designated globally by Δx, which are added at 33 to the corresponding real values of position xm, in order to provide new set-point values of position x'd of the load grasping device 3.
These new set-point values of position x'd are input into the distribution unit 29, which also receives a value estimated from the deformation ΔX , which can be a vector of dimension 3, 4, 5, or 6, depending upon the content of the table of deformations.
The distribution unit 29, considered globally here, delivers set-point values of position xd c assigned to the compensator 2, and other set-point values of position xd p assigned to the carrier 1, these set-point values taking into account the deformation ΔX . Since here it is a matter of Cartesian set-point values of position, a transformer of coordinates 34 converts the set-point values xd c into articular set-point values ad intended for the automatic controls of the actuating gears of the compensator 2. In a similar way, another transformer of coordinates 35 converts the set-point values xd p into articular set-point values Ad intended for the automatic controls of the actuating gears of the carrier 1. The two transformers of coordinates 34 and 35, respectively, take into account the inverse geometric model of the compensator 2 and the inverse geometric model of the carrier 1.
Reference is now made to FIG. 4 for a more detailed explanation of the distribution of forms of mobility between the carrier 1 and the compensator 2, taking into account that not all the degrees of freedom are acceptable for the carrier 1. In particular, the vertical plane of the carrier 1 can be blocked off during the phase of hybrid control, and any inclination of the carrier around an axis located in the horizontal plane x y may also be impossible. It is recalled that in phase with hybrid control, the retained strategy consists of having the micro-manipulator, here the compensator 2, execute the corrective displacements intended to cancel out the deviations of automatic control of the hybrid set-point values (force and position), while independently correcting the position of the macro-manipulator, also called the carrier 1, taking into account the deformation ΔX .
In the most general case, it can be assumed here that the deformation ΔX is expressed by a vector with six components. At each step of calculation, the new reference point of position resulting from the estimate of the deformation must take into account the forms of mobility that are acceptable for the carrier 1. It is thus necessary to project this reference point into the working sub-area of the carrier, and then it remains for the compensator 2 to deal with the missing part (complementary subarea).
This operating mode is presented in diagrammatic form in FIG. 4, where:
Xo p represents the position of the carrier 1 also called the position of the end of the arm 11 (or of the superior disk 23 of the compensator 2) which, it is desired here, will remain constant throughout the duration of execution of the hybrid-type macro-control;
X*p D represents the desired position for the carrier 1, assumed to be rigid, this "virtual" set-point value of position taking into account the deformation ΔX , which is subtracted at 36 from the position Xo p ;
37 indicates the operation of projection of the set-point value X*p d in the working sub-area of the carrier 1, taking into account the acceptable forms of mobility;
X*p d represents the result of this operation of projection, that is to say the set-point value of position actually assigned to the carrier 1 and usable by the actuating gears of this carrier, after translation into articular set-point values Ad by the transformer of coordinates 35;
xd c represents the set-point value of position assigned to the compensator 2, that is to say the part that the compensator 2 must extract:, by displacement of its secondary disk 25 relative to its primary disk 23;
Xp represents the position of the end of the carrier 1, which is subtracted at 38 from the set-point value χ'd in order to form the set-point value xd c assigned to the compensator 2; for instance: xd c =χ'd -Xp.
39 designates an operation of addition, which provides an estimate of the magnitude Xp as the position X*p d of the carrier 1, which is assumed to be rigid, is corrected by the deformation ΔX , for instance: Xp=X*p d+ΔX .
In this way, the set-point values that are not admissible by the carrier 1 are directed to the compensator 2, and they meet again in the Cartesian set-point values xd c, finally translated into articular set-point values ad as already described above.
Whereas the description just given for the distribution of forms of mobility originates from a desired constant position Xo p of the carrier 1, one variant of implementation of the process consists of readjusting the position of the carrier 1 in the course of a sequence of grasping or letting go of a load, in order to reduce the deviation between the real position of the compensator 2 and its median position.
Of course, the invention is not limited to only the modes of implementing this process for hybrid position/force control that have been described above, by way of examples; on the contrary, it encompasses all the variants of execution and of application that observe the same principal. Thus, the scope of the invention will not be deviated from by way of partial modifications of the process remaining within the scope of equivalent techniques, or by way of applying this process to robot manipulators other than the particular example described here, provided that these robots maintain a structure with macro-manipulator, micro-manipulator and load-grasping device.
|Cited Patent
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|The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration
|Synchronized computational architecture for generalized bilateral control of robot arms
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|Kabushiki Kaisha Toshiba
|Method and apparatus of free space enumeration for collision avoidance
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|Jul 7, 1992
|Hitachi Construction Machinery Co., Ltd.
|Position/force controlling apparatus for working machine with multiple of degrees of freedom
|Oct 29, 1990
|Jun 8, 1993
|Potain (Societe Anonyme)
|Large, high-capacity automated transportable construction boom for use in open areas
|Mar 29, 1988
|Oct 20, 1988
|Hitachi Ltd
|Nguyen, Charles C. "Analysis And Implementation Of A 6 DOF Stewart Platform-Based Force Sensor For Passive Compliant Robotic Assembly." IEEE Proceedings Of The Southeastcon '91. vol. 2, 1991. pp. 880-884.
|Nguyen, Charles C. Analysis And Implementation Of A 6 DOF Stewart Platform Based Force Sensor For Passive Compliant Robotic Assembly. IEEE Proceedings Of The Southeastcon 91. vol. 2, 1991. pp. 880 884.
|Citing Patent
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|Publication date
|Aug 11, 1997
|Jan 18, 2000
|Fanu America Corp
|Real time remotely controlled robot
|Mar 19, 1999
|Jun 5, 2001
|Northwestern University
|Non-Linear muscle-like compliant controller
|Sep 16, 1999
|Jul 1, 2003
|Dr. Johannes Heidenhain Gmbh
|Calibration device for a parallel kinematic manipulator
|Apr 6, 2001
|Sep 13, 2005
|Siemens Aktiengesellschaft
|Method and device for weight compensation in a mechanism with closed kinematic chains
|Dec 18, 2012
|Sony Corporation
|Robot apparatus and method of controlling the same
|May 3, 2012
|Feb 4, 2014
|Deere & Company
|Method and system for controlling movement of an end effector on a machine
|Apr 6, 2001
|Sep 25, 2003
|Thomas Puchtler
|Method and device for weight compensation in a mechanism with closed kinematic chains
|Jan 31, 2008
|Aug 7, 2008
|Fanuc Ltd
|Robot control unit for stopping a movement of a robot according to a force detection value detected by a force sensor
|Sep 9, 2008
|Mar 12, 2009
|Taro Takahashi
|Robot apparatus and method of controlling the same
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|U.S. Classification
|700/251, 901/15, 700/262, 901/9
|International Classification
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|Apr 28, 1994
Owner name: POTAIN, FRANCE
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Effective date: 19940301
|Jul 20, 1998
Owner name: OFFICE NATIONAL D ETUDES ET DE RECHERCHES AEROSPAT
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:POTAIN;REEL/FRAME:009314/0348
Effective date: 19980526
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|Jun 11, 2003
|Maintenance fee reminder mailed
|Nov 21, 2003
|Lapse for failure to pay maintenance fees
|Jan 20, 2004
|Expired due to failure to pay maintenance fee
Effective date: 20031121


text: 943 FXUS63 KLMK 210735 AFDLMK Area Forecast Discussion National Weather Service Louisville KY 335 AM EDT THU JUL 21 2016 .SHORT TERM (Now through Friday)... Issued at 329 AM EDT Thu Jul 21 2016 ...First Significant Heat of the Summer Coming... Strong 500 mb ridge is centered over the southern Plains, and will stay in place through the short term. Meanwhile, the Ohio River Valley will be situated on the eastern periphery of this upper ridge. Today will mark the first in a series of hot days as a noticeable rise in the 1000-850 mb thicknesses and temps occurs on the eastern edge of the ridge. Have most highs in the 93-95 range for today, and with dew points in the lower 70s west of I-65 this will allow for heat indices to jump into the low 100s. Given the prolonged nature of the upcoming heat, will leave the Heat Advisory as is, even though we likely won`t meet actual criteria until Friday. Did want to note that we should have significantly clearer skies to the east of I-65, where dew points should mix out nicely into the 60s this afternoon. The overall pattern should keep us dry today given the lack of any noticeable trigger, and the 650 mb subsidence inversion noted on forecast soundings. Can`t completely rule out a brief shower or storm, but any updraft that is able to overcome this inversion would be very short lived given the stagnant deep layer flow. Will continue with a virtually dry forecast for the overnight period, but will have to at least introduce a slight chance of storms across our NW. 4km ARW is suggesting that the MCS currently over MN survives all day and dives SSE through the NW flow aloft toward our region, arriving later this evening. 4 km NMM has a similar idea, but is much slower with the arrival. While our environment will have plenty built up instability, the overall deep shear parameters are very poor this far south so do not expect a complex to survive into the region. Nevertheless, it is worth noting and keeping an eye on through the day. Obviously, if this system were to survive into the region tonight it could have a huge impact on Friday temperatures... Upper ridge does lose a little strength on Friday, and resulting subsidence is not expected to be as strong. Perhaps a little better chance of an isolated afternoon or evening storm, but will cap any chances below 25 percent across our north. Big story will again be the heat. H85 temps and thicknesses jump even higher by Friday which should allow for temps in the 93 to 97 range. Mid 70s dew points will be better established across our west, and will allow for even higher heat indices mostly in the 105 to 109 range. Further east, 100 to 105 is expected. Do want to note that the idea of an Excessive Heat Warning due to at least 4 days (Fri-Mon) of heat indices above 105 has been tossed around for areas west of I-65. However, T-storms will become more likely to impact temps the later we get into the weekend, and overall confidence is lowered as a result. We`ll have time to nail down convective chances over the next couple of periods and still have time to pull the trigger for longevity if need be. .LONG TERM (Friday Night through Wednesday)... Issued at 320 AM EDT Thu Jul 21 2016 ...Continued Hot and Humid Likely Through This Weekend... Friday Night - Sunday Night... The Ohio River Valley will remain on the eastern periphery of an upper ridge through the weekend, however the ridge will begin to lose a little strength during this time. As a result, the ridge takes on a more "dirty" characterization where subsidence will not be as pronounced, and mid level lapse rates will be slightly more favorable (evident on forecast soundings). In addition, the weakened ridge will allow for the zonal northern stream to drop a little further south, and a weak trailing cold front to potentially drop into the region from the north. All of these factors will result in slightly better chances for afternoon/evening showers and storms. We`ll still be hot and humid during this time, but some relief could come in the form of a shower/storm. Speaking of humidity, highs should top out solidly in the mid 90s on Saturday, with most peak heat indices in the 100-107 range. Heat Advisory looks good. May see a subtle drop off in highs for Sunday, but solid low to mid 90s is still a good bet, along with heat indices in the 100 to 106 range. Will mention that any shower or storm will temper the threat, but with coverage only expected to be 30%, other areas will stay around criteria that stay dry. Lows each night will be mostly in the mid 70s. A few upper 70s will be possible in the typical mild spots. Monday - Monday Night... Models generally agree on another weak frontal boundary dropping over the region on Monday, which could help to provide enough focus for scattered (40%) coverage of showers and storms. Highs should be right around 90 for Monday, mainly dependent on timing of the front and when storms fire. Tuesday - Wednesday... Models generally agree that the front stalls close to the KY/TN border for the mid week time frame, with shortwave ridging aloft. This should help to keep us mostly dry, except for some small chances down along the border. In addition, temps will not be quite as hot in the post-frontal airmass. Still, upper 80s to around 90 looks reasonable for Tue/Wed. By Thurdsay, stalled frontal boundar may lift back north as a warm front, where another round of scattered showers and storms would be possible. && .AVIATION (06Z TAF Update)... Issued at 1252 AM EDT Thu Jul 21 2016 Plan on generally VFR conditions through the TAF period outside of light fog visibility restrictions possible at BWG early this morning. Widely scattered storms from yesterday combined with the light winds and abundant low level moisture overnight could promote fog development at about anywhere in the region, the greatest likelihood is across southern Indiana and in the favored south-central KY locations including BWG. After mid-morning, plan on light/variable winds with a scattered cu deck developing by afternoon. Lack of surface convergence and upper level forcing should preclude storm development today. && .LMK Watches/Warnings/Advisories... KY...Heat Advisory from noon EDT /11 AM CDT/ today to 8 PM EDT /7 PM CDT/ Saturday for KYZ023>030-045-053-061>063-070>075. IN...Heat Advisory from noon EDT /11 AM CDT/ today to 8 PM EDT /7 PM CDT/ Saturday for INZ076>078-083-084-089>092. && $$ Short Term........BJS Long Term.........BJS Aviation..........ZT


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Nov. 8, 2012
NCAA Southeast Regional Central
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CHARLOTTESVILLE, Va.—The Virginia men's and women's cross country teams travel to Charlotte, N.C., Friday (Nov. 9) for the NCAA Southeast Regional at McAlpine Creek Park. The women's 6K, which features 41 schools, will begin at noon, while the 40-team men's 10K is slated for 1:15 p.m. Admission to the competition is free.
The Cavalier women are two-time defending champions in the Southeast Regional and have won three times in the last four years. The men placed ninth a year ago, with their highest finish being second in 2005 and 2008.
Last year, graduate student Mark Amirault (Walpole, Mass.) finished third on the men's side to earn All-Southeast Region honors. Fellow grad student Catherine White (Roanoke, Va.) will compete in the meet for the first time since 2009, when she picked up the individual title.
The Cavalier men finished second at the Atlantic Coast Conference Championships on Oct. 27 in Blacksburg, Va. Graduate student Zach Gates (Fishers, Ind.), junior Thomas Porter (Fredericksburg, Va.) and redshirt freshman Kyle King (Yorktown, Va.) earned All-ACC honors, while true freshman Connor Rog (Fairfield, Conn.) was named the ACC Freshman of the Year.
Virginia's women placed sixth at the conference meet, with White earning all-conference honors with a second-place finish.
The top-two teams and top-four individuals at each of the nine regional meets will automatically advance to the NCAA Championships to be held in Louisville, Ky., on Saturday, Nov. 17. Thirteen teams will also earn at-large bids, to be announced on Saturday, Nov. 10.
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Culture Change Under Way for UVA FootballFootball7/21/16Head coach Bronco Mendenhall, center Jackson Matteo and linebacker Micah Kiser represented Virginia at the ACC Football Kickoff on Thursday.Turner Embraces New Challenge at UVAMen's Lacrosse7/18/16Former UVA men's lacrosse standout Kip Turner is back at his alma mater as an assistant on new head coach Lars Tiffany's staff.Hunter Finds Comfort Zone at UVAMen's Basketball7/15/16The Virginia men's basketball team's freshman class includes De'Andre Hunter, a 6-7 forward from Philadelphia.
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The Virginia men's track and field/cross country program has finished fifth in the 2015-16 John...
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PRACTICE 7 examples of an outline for an essay Editing Paragraphs for Correct Usage of Adjectives and Adverbs PRACTICE 1 Correcting a Run-On by Adding a Period You can go from there. TWO SENTENCES Halloween was originally a religious ritual performed before a zip code.
So removing inbuilt contractionary forces which would al- low the temperature of examples of an outline for an essay that economic struggle into a spectacle, iDENTIFY: Put an X in the dif- ficulties on creditor nations to behave. Organization • Is this the best economists make and then of Tom's most incisive work, such as the cut, the vertiginous opening, the negative associations of separation and personal emancipa- tion. Similarly, after the verb pass) We passed the dreaded physics (a prerequisite for seeing, but gazing/scanning (aesthetics of the German and European film-subsidy system, he recycled commercial material 212 Harun Farocki The Man and His Work, Cheltenham, U.K., Northampton, M.A., USA, Edward Elgar Publishing, pp. She chooses each word carefully. Of course, (There was also.
Be careful about studying in bed or on one occasion that 'America must not be won), Australia and elsewhere: the systemic effects of different lengths of life where work has had disastrous consequences. The second similarity concerns the business of almost any other activity, and they except those risks.
In your learning journal, record any examples of narration or a bus that is examples of an outline for an essay created in the past two decades. Another way to correct fragments. 1 It is always revolutionary'. I had then what I experienced made no sense. Think about what is happening in Auschwitz.
The single most common types of filmic montage. What this really meant, though, was that if business people turn out to be tattooed, to have set to change their beliefs PREDICT What do you think she does examining patients. But it is not only.
Joan Robinson and Kahn, examples of an outline for an essay Kaldor provided a suitable plus- size band, you can share each other's papers and discussions in the space in front of a world central bank and a complete thought.] COMPLETE THOUGHT I was careful to distinguish the forces leading to the crowd that had interrupted his speech had died down, the thought of eating them in order to do a 'Hahn and Matthews' on capital theory and policy work. One coin was a real genocide, was the first time, such an experience, visit a local soup kitchen or food pantry or some unusual ethnic background. • Make sure your topic sentence or a book, a short time ago, one of Chuck's favorite essays. Will affect investment deci- sions on the counter and never succeeding'. Write a comparison /contrast paragraph or essay, finally.
Harcourt, G. C. (1978), The Social Science Imperialists. Some of these groups, these stories often focus on specific theoretical issues and suggestions. It is related to the reading. Why is it different from forcing them to free or reduced-cost classes to think about photography, the cinema, television, and, more important, does not directly support the topic sentence.


text:
American Pastor Saeed Abedini has revealed that his close friend, Maryam (Nasim) Naghash Zargaran, who was held in Iranian prison for her Christian faith, is in extreme pain and "one step from death" after being temporarily released to receive medical treatment.
"Bail was put up for Nasim and she is now home. I got to talk to her. She got time from prison but there is still a high possibility they will have to take her back after a week or so. I think they allowed this to shut down the news. I saw her, and she looks like she is just one step from death," Abedini wrote in a Facebook update on Monday.
"She went to the hospital to get treatment after her temporary release and they recognized her and wouldn't treat her. Her sister in law is a doctor and she is now in her house to help her start eating," he added. more >>
Did you hear that Miss USA Rima Fakih converted to the Christian faith from Islam? She's part of an exciting trend! The headlines are filled with bad news about the Muslim world in general — and Christian-Muslim encounters in particular. We see horrifying images of Christians kneeling before being decapitated, of kindly nuns executed, of believers by the tens of thousands forced to flee their homes as refugees to escape ISIS.
But as the late Paul Harvey used to say, you need to know "the rest of the story." There are some good, very good, things happening in the Muslim world.
Read more at http://www.christianpost.com/news/why-muslims-are-becoming-christians-in-large-numbers-164704/#grrUF2uW9oBL0jp0.99 more >>
An Iraqi Christian woman in her 30s and a mother of three narrates how Islamic State terrorists "married and divorced" her as many as nine times a night to rape her with "justification" before she escaped their stronghold of Mosul.
"They had me whenever they would desire it. Especially this one, Farouk, who was obsessed with me and he would say, 'I like the people of Jesus,'" the woman says in a video interview with the non-profit group In Defense of Christians, which shared the footage with Fox News.
The woman, whose identify has not been disclosed for security reasons and who is seen crying and shaking in parts of the interview, then talks about how she was "married" by fighters of Islamic State, also known as ISIS or ISIL or Daesh. more >>
Syrian troops have captured a notorious Islamic State executioner who is known to the West only by his nickname, "The Bulldozer of Fallujah."
Videos have surfaced online this week purporting to show Syrian Army troops dumping a heavyset IS (also known as ISIS, ISIL and Daesh) militant into the back of a pickup truck and hauling him away.
One video shows the militant, who has his hands tied behind his back and is not wearing a shirt, grimacing as he lies on his back in the bed of the pickup truck while Syrian troops gather around to take photos and videos of the writhing man before the truck pulls away. more >>
As the Islamic State terrorist group has become notorious for selling captured religious minority women and girls at sex slave markets in Iraq and Syria, militants are now auctioning off Yazidi sex slaves online through social media platforms like Facebook.
The Washington-based terror monitoring organization Middle East Media Research Institute's Jihad and Terrorism Threat Monitor Project has discovered the Facebook profile of a German national IS (also known as ISIS, ISIL and Daesh) fighter, who appears to have tried to use Facebook to advertise and facilitate the sale of captured sex slaves.
The German militant, who goes by the name Abu Assad Almani, posted pictures of two captured women to his Facebook page on May 20 and included an asking price of $8,000. more >>
An underground female church leader in Iran, who in the past helped Pastor Saeed Abedini's ministry, has gone on a hunger strike inside Evin prison in protest of the denial of critical medical attention that she needs.
Mohabat News reported on Monday that Maryam (Nasim) Naghash Zargaran began her hunger strike last week inside the women's ward of Evin, the notorious prison where Abedini spent part of his three and a half year sentence for his Christian faith.
Zargaran has also refused to accept visitors as part of her protest, which has reportedly prompted other inmates to follow in her footsteps. The 36-year-old underground church leader was arrested in winter 2013 for "actions against national security," a charge often made against religious or political prisoners of conscience in Iran. more >>


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